Checking volume in an excavation tool

Patent metadata

Field	Value
Publication number	US-11441291-B2
Application number	US-202016845371-A
Country	US
Kind code	B2
Filing date	Apr 10, 2020
Priority date	Jan 23, 2017
Publication date	Sep 13, 2022
Grant date	Sep 13, 2022

Abstract

This description provides an autonomous or semi-autonomous excavation vehicle that is capable of navigating through a dig site and carrying out an excavation routine using a system of sensors physically mounted to the excavation vehicle. The sensors collects any one or more of spatial, imaging, measurement, and location data representing the status of the excavation vehicle and its surrounding environment. Based on the collected data, the excavation vehicle executes instructions to carry out an excavation routine. The excavation vehicle is also able to carry out numerous other tasks, such as checking the volume of excavated earth in an excavation tool, and helping prepare a digital terrain model of the site as part of a process for creating the excavation routine.

First claim

What is claimed is:

1. A method for analyzing an amount of earth in a tool mounted to an excavation vehicle (EV), the method comprising:
accessing, from a sensor mounted to the EV, data representing a current fill state of a tool mounted to the excavation vehicle;
generating, by a processor of the EV, a current representation of the amount of earth in the tool based on the accessed data;
accessing, by the processor, an empty representation of the tool when the tool is empty;
determining, by the processor, a volume of earth within the tool based on a difference between the current representation and the empty representation; and
responsive to the determined volume of earth within the tool being less than a threshold volume, executing, by the processor, a set of instructions to adjust a position of the tool relative to a ground surface and to excavate earth until the volume of earth within in the tool is greater than the threshold volume.

2. The method of claim 1 , wherein executing the set of instructions to adjust the position of the tool comprises:
adjusting the tool from a measuring position in a field of view of the sensor to one or more of the following:
a position at a height above the ground surface;
a position at a depth below the ground surface; and
a position at which a leading edge of the tool is in contact with the ground surface.

3. The method of claim 1 , where executing the set of instructions to adjust the position of the tool comprises one or more of the following:
adjusting a position of a leading edge of the tool relative to the ground surface; and
adjusting an orientation of the leading edge of the tool relative to the ground surface.

4. The method of claim 1 , wherein executing the set of instructions to excavate earth until the volume of earth within the tool is greater than the threshold volume comprises one or more of the following:
executing instructions to continue a current target tool path to excavate earth until the volume of earth within the tool is greater than the threshold volume;
executing instructions to repeat a previously performed target tool path to excavate earth until the volume of earth within the tool is greater than the threshold volume; and
executing instructions to perform an alternate target tool path to excavate earth until the volume of earth within the tool is greater than the threshold volume.

5. The method of claim 1 , wherein executing the set of instructions further comprises:
determining a remaining volume of earth to be excavated based on a difference between the volume of earth within the tool and the threshold volume, wherein the remaining volume of earth is greater than the threshold volume;
updating at least a first tool path with instructions adjust the position of the tool to excavate the remaining volume of earth; and
updating at least a second target tool path with instructions to navigate to a dump location to empty the volume of earth within the tool in response to excavating the remaining volume of earth.

6. The method of claim 4 , further comprising
inputting the remaining volume of earth and one or more dimensions of the tool to a predictive model trained to determine a horizontal distance to navigate the tool and a depth below the ground surface for the tool to be positioned during navigation; and
updating at least the first tool path with instructions to adjust the position of the tool to the determined depth and to navigate the tool over the determined horizontal distance.

7. The method of claim 1 , wherein executing the set of instructions further comprises:
determining a remaining volume of earth to be excavated based on a difference between the volume of earth within the tool and the threshold volume, wherein the remaining volume of earth is greater than the threshold volume; and
generating a set of target tool paths with instructions for the EV to navigate to another location and to excavate the remaining volume of earth from the other location.

8. The method of claim 1 , wherein executing the set of instructions further comprises:
responsive to the EV repeating instructions to execute a target tool path, determining a count of repetitions of the target tool path;
determining a remaining volume of earth to be excavated based on a difference between the volume of earth within the tool and the threshold volume, wherein the remaining volume of earth is greater the threshold volume; and
generating an updated target tool path to adjust a position of the tool relative to the ground surface and to excavate the remaining volume of earth.

9. The method of claim 1 , further comprising:
responsive to the determined volume of earth within the tool being greater than the threshold volume, updating the set of instructions to navigate the EV to a dump location to empty the volume of earth within the tool; and
executing the updated set of instructions to empty the volume of earth collected within the tool at the dump location.

10. A method for analyzing an amount of earth in a tool mounted to an excavation vehicle (EV), the method comprising:
determining, by a processor communicatively coupled to the EV, a volume of earth collected within the tool based on a comparison of a current representation of the amount of earth in the tool and an empty representation of the tool when the tool is empty; and
responsive to the determined volume of earth within the tool being less than a threshold volume, executing, by the processor, instructions to adjust a position of the tool relative to a ground surface and to excavate earth until the volume of earth within the tool is greater than the threshold volume.

11. The method of claim 10 , wherein executing the set of instructions to adjust a position of the tool comprises:
adjusting the tool from a measuring position in a field of view of the sensor to one or more of the following:
a position at a height above the ground surface;
a position at a depth below the ground surface; and
a position at which a leading edge of the tool is in contact with the ground surface.

12. The method of claim 10 , where executing the set of instructions to adjust the position of the tool comprises one or more of the following:
adjusting a position of a leading edge of the tool relative to the ground surface; and
adjusting an orientation of the leading edge of the tool relative to the ground surface.

13. The method of claim 10 , wherein executing the set of instructions to excavate earth until the volume of earth within the tool is greater than the threshold volume comprises one or more of the following:
executing instructions to continue a current target tool path to excavate earth until the volume of earth within the tool is greater than the threshold volume;
executing instructions to repeat a previously performed target tool path to excavate earth until the volume of earth within the tool is greater than the threshold volume; and
executing instructions to perform an alternate target tool path to excavate earth until the volume of earth within the tool is greater than the threshold volume.

14. The method of claim 10 , wherein executing the set of instructions further comprises:
determining a remaining volume of earth to be excavated based on a difference between the volume of earth within the tool and the threshold volume, wherein the remaining volume of earth is greater than the threshold volume;
updating at least a first tool path with instructions adjust the position of the tool to excavate the remaining volume of earth; and
updating at least a second target tool path with instructions to navigate to

Assignees

• Built Robotics Inc

Inventors

• Ready-Campbell Noah Austen
• Liang Andrew Xiao
• Chou Linus Page
• Walker Jr Edward Stephen
• Wawrzonek Christian John
• Ready-Campbell Cyrus Mcmann

Classifications

• E02F3/435 Primary

  for dipper-arms, backhoes or the like · CPC title

• E02F9/262

  with follow-up actions to control the work tool, e.g. controller · CPC title

• E02F9/205

  Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence) · CPC title

• E02F9/265

  with follow-up actions (e.g. control signals sent to actuate the work tool) · CPC title

• G06V20/56

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title